MG R7I4DECT-1-DC32A User manual

EM-7779-J Rev.1 P. 1 / 12
MG CO., LTD. www.mgco.jp
5-2-55 Minamitsumori, Nishinari-ku, Osaka 557-0063 JAPAN
INSTRUCTION MANUAL
BEFORE USE ....
Thank you for choosing us. Before use, please check con-
tents of the package you received as outlined below.
If you have any problems or questions with the product,
please contact our sales office or representatives.
■PACKAGE INCLUDES:
Discrete Output module......................................................(1)
Surface mounter slider .......................................................(2)
■MODEL NO.
Confirm Model No. marking on the product to be exactly
what you ordered.
■INSTRUCTION MANUAL
This manual describes necessary points of caution when
you use this product, including installation, connection and
basic maintenance procedures.
■ESI FILES
ESI files are downloadable at our web site.
POINTS OF CAUTION
■CONFORMITY WITH EU DIRECTIVE
• The equipment must be mounted inside the instrument
panel of a metal enclosure.
• The actual installation environments such as panel con-
figurations, connected devices, connected wires, may af-
fect the protection level of this unit when it is integrated
in a panel system. The user may have to review the CE
requirements in regard to the whole system and employ
additional protective measures to ensure the CE conform-
ity.
■POWER INPUT RATING & OPERATIONAL RANGE
• Locate the power input rating marked on the product and
confirm its operational range as indicated below:
24V DC rating: 24V ±10%, approx. 55mA
■GENERAL PRECAUTIONS
• Before you remove the unit or mount it, turn off the power
supply, input signal, and output signal for safety.
■ENVIRONMENT
• Indoor use.
• When heavy dust or metal particles are present in the
air, install the unit inside proper housing with sufficient
ventilation.
• Do not install the unit where it is subjected to continuous
vibration. Do not subject the unit to physical impact.
• Environmental temperature must be within -10 to +55°C
(14 to 131°F) with relative humidity within 30 to 90% RH
in order to ensure adequate life span and operation.
■WIRING
• Do not install cables close to noise sources (relay drive
cable, high frequency line, etc.).
• Do not bind these cables together with those in which
noises are present. Do not install them in the same duct.
■AND ....
• The unit is designed to function as soon as power is sup-
plied, however, a warm up for 10 minutes is required for
satisfying complete performance described in the data
sheet.
EtherCAT I/O MODULE
(NPN transistor output, 32 points, e-CON connector) MODEL
R7I4DECT-1-DC32A
EtherCAT® is a registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany.

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COMPONENT IDENTIFICATION
■FRONT VIEW
ECT OUTECT IN
CNFG.
X16
X1
Dev. ID
PWR
RUN
ERR
L/A IN
L/A OUT
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
Y0 Y1 Y2 Y3 Y4 Y5 Y6 Y7 YFYEYDYCYBYAY9Y8 Y10Y11 Y12Y13 Y14Y15 Y16Y17 Y1FY1EY1DY1CY1BY1AY19Y18
YFYEYDYCYBYAY9Y8
Y1FY1EY1DY1CY1BY1AY19Y18
Y0 Y1 Y2 Y3 Y4 Y5 Y6 Y7
Y10Y11 Y12Y13 Y14Y15 Y16Y17
OUTPUT
1
4
1
4
Discrete Output Status Indicator LEDsStatus Indicator LEDs
RJ-45 Modular Jack for
EtherCAT Communication
Terminals for
power supply &
sensor excitation
Output Terminals
Fixed Address Setting Rotary SW
PC Configurator Jack
OUTPUT
■STATUS INDICATOR LED
ID FUNCTION COLOR STAT U S
Power Internal power Green Off Error
On Normal
RUN Device state Green
Off INIT
Blinking PRE-OPERATIONAL
Single Flash SAFE-OPERATIONAL
On OPERATIONAL
ERR Error Red
Off No error
Blinking Invalid Configuration
Single Flash Local error
Double Flash Process data watchdog timeout/
EtherCAT watchdog timeout
On Application controller failure
L/A IN IN port status Green
Off No Link
Flickering Link and activity
On Link without activity
L/A OUT OUT port status Green
Off No Link
Flickering Link and activity
On Link without activity
Blinking 200ms-On, 200ms-Off
Single flash 200ms-On, 1000ms-Off
Double flash 200ms-On, 200ms-Off, 200ms-On, 1000ms-Off
Flickering 50ms-On, 50ms-Off
■FIXED ADDRESS SETTING ROTARY SW (ID selector)
Fixed address 1 to 255 can be set using the two rotary
switches each marked 0 to F in combination.
When fixed address is not used, set the switches to 0.
Settable range: 0 to 255
Factory default: 0
Fixed Address Setting (x1)
Fixed Address Setting (x16)
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F

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■POWER SUPPLY AND SENSOR EXCITATION
Cable connector: TFMC1,5 / 5-STF-3,5
(Phoenix Contact) (comes with the unit)
Applicable wire size: 0.2 − 1.5 mm2
Stripped length: 10 mm
Recommended solderless terminal
• AI0,25−10YE 0.25 mm2(Phoenix Contact)
• AI0,34−10TQ 0.34 mm2(Phoenix Contact)
• AI0,5−10WH 0.5 mm2(Phoenix Contact)
• AI0,75−10GY 0.75 mm2(Phoenix Contact)
• A1−10 1.0 mm2(Phoenix Contact)
• A1,5−10 1.5 mm2(Phoenix Contact)
1
2
3
4
5
PIN
No. ID FUNCTION
1 PWR+ Power Supply
2 PWR– Power Supply
3 FE Functional earth
4 SNSR.EXC+ Sensor excitation
5 SNSR.EXC– Sensor excitation
Note: The number marked on the connector is irrelevant to the
pin number of the unit.
Perform wiring according to this instruction manual.

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■OUTPUT TERMINAL ASSIGNMENTS
• e-CON connector
Recommended cable connector: 37104-( )-000FL (3M Company) (does not come with the unit)
(Specify wire size instead of ( ); refer to manufacturer’s specifications for details.)
1
4
1
4
Y0 Y1 Y2 Y3 Y4 Y5 Y6 Y7 Y8 Y9 YA YB YC YD YE YF
Y10 Y11 Y12Y13 Y14 Y15 Y16 Y17 Y18 Y19 Y1A Y1B Y1C Y1D Y1E Y1F
PIN No. ID FUNCTION PIN No. ID FUNCTION PIN No. ID FUNCTION PIN No. ID FUNCTION
Y0
1 +24V 24V DC
Y8
1 +24V 24V DC
Y10
1 +24V 24V DC
Y18
1 +24V 24V DC
2 NC Unused 2 NC Unused 2 NC Unused 2 NC Unused
3 NC Unused 3 NC Unused 3 NC Unused 3 NC Unused
4 Y0 Input 0 4 Y8 Input 8 4 Y10 Output 16 4 Y18 Output 24
Y1
1 +24V 24V DC
Y9
1 +24V 24V DC
Y11
1 +24V 24V DC
Y19
1 +24V 24V DC
2 NC Unused 2 NC Unused 2 NC Unused 2 NC Unused
3 NC Unused 3 NC Unused 3 NC Unused 3 NC Unused
4 Y1 Input 1 4 Y9 Input 9 4 Y1 Output 17 4 Y9 Output 25
Y2
1 +24V 24V DC
YA
1 +24V 24V DC
Y12
1 +24V 24V DC
Y1A
1 +24V 24V DC
2 NC Unused 2 NC Unused 2 NC Unused 2 NC Unused
3 NC Unused 3 NC Unused 3 NC Unused 3 NC Unused
4 Y2 Input 2 4 YA Input 10 4 Y2 Output 18 4 YA Output 26
Y3
1 +24V 24V DC
YB
1 +24V 24V DC
Y13
1 +24V 24V DC
Y1B
1 +24V 24V DC
2 NC Unused 2 NC Unused 2 NC Unused 2 NC Unused
3 NC Unused 3 NC Unused 3 NC Unused 3 NC Unused
4 Y3 Input 3 4 YB Input 11 4 Y3 Output 19 4 YB Output 27
Y4
1 +24V 24V DC
YC
1 +24V 24V DC
Y14
1 +24V 24V DC
Y1C
1 +24V 24V DC
2 NC Unused 2 NC Unused 2 NC Unused 2 NC Unused
3 NC Unused 3 NC Unused 3 NC Unused 3 NC Unused
4 Y4 Input 4 4 YC Input 12 4 Y4 Output 20 4 YC Output 28
Y5
1 +24V 24V DC
YB
1 +24V 24V DC
Y15
1 +24V 24V DC
Y1D
1 +24V 24V DC
2 NC Unused 2 NC Unused 2 NC Unused 2 NC Unused
3 NC Unused 3 NC Unused 3 NC Unused 3 NC Unused
4 Y5 Input 5 4 YD Input 13 4 Y5 Output 21 4 YD Output 29
Y6
1 +24V 24V DC
YE
1 +24V 24V DC
Y16
1 +24V 24V DC
Y1E
1 +24V 24V DC
2 NC Unused 2 NC Unused 2 NC Unused 2 NC Unused
3 NC Unused 3 NC Unused 3 NC Unused 3 NC Unused
4 Y6 Input 6 4 YE Input 14 4 Y6 Output 22 4 YE Output 30
Y7
1 +24V 24V DC
YF
1 +24V 24V DC
Y17
1 +24V 24V DC
Y1F
1 +24V 24V DC
2 NC Unused 2 NC Unused 2 NC Unused 2 NC Unused
3 NC Unused 3 NC Unused 3 NC Unused 3 NC Unused
4 Y7 Input 7 4 YG Input 15 4 Y7 Output 23 4 YF Output 31

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PC CONFIGURATOR
The following parameter items can be configured with the PC configurator software (model: R7CFG).
Refer to the users manual of the software for detailed operations.
■CHANNEL INDIVIDUAL SETTING
PARAMETER SETTING RANGE DEFAULT
Unused setting CH enabled
CH disabled
CH enabled
■CHANNEL BATCH SETTING
PARAMETER SETTING RANGE DEFAULT
Output at communication error Output hold
Output clear
Output hold
MOUNTING INSTRUCTIONS
■DIN RAIL MOUNTING (PARALLEL)
• Mounting the unit
1) Hook the upper hook at the rear side of the base onto the
DIN rail.
2) Push the lower part of the unit in the direction of the ar-
row until the base is firmly fixed to the DIN rail.
1
2
• Removing the unit
1) Push down the slider using a minus screwdriver.
2) Pull out the lower part of the unit.
3) Remove the upper part of the unit from the DIN rail.
3
1
2
■WALL MOUNTING
1) Insert the two DIN rail mounter sliders until they click
once, as shown below.
1
1
2) Mount the unit with M4 screws referring to the “MOUNT-
ING REQUIREMENTS unit: mm (inch)” on page 7.
(Torque: 1.4 N∙m)

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TERMINAL CONNECTIONS
Connect the unit as in the diagram below.
■EXTERNAL DIMENSIONS unit: mm (inch)
41 (1.61)
165 (6.50)
172 (6.77)
186 (7.32)
DIN rail
(35mm wide)
50 (1.97)
3.5
(.14)
5
(.20)
4 (.16)
2-4.3 (.17) dia
4 (.16) deep
■CONNECTION DIAGRAM
Note: In order to improve EMC performance, bond the FE terminal to ground.
Caution: FE terminal is NOT a protective conductor terminal.
SNSR.EXC+
SNSR.EXC–
FE
PWR–
PWR+
1
2
4
5
3
POWER SUPPLY (IN)
SENCOR EXCITATION
(IN)
SNSR.EXC+
SNSR.EXC–
FE
PWR–
PWR+
1
2
4
5
3
POWER SUPPLY (OUT)
SENCOR EXCITATION
(OUT)
1
2
4
3OUTPUT Y0
Y0
NC
NC
+
24V
1
2
4
3OUTPUT Y1F
YF
NC
NC
+2 4V
•
•
•
•
•
RJ-45 Modular Jack
RJ-45 Modular Jack
EtherCAT (IN)
EtherCAT (OUT)
USB Connector
CONFIGURATION
CONNECTOR

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MOUNTING REQUIREMENTS unit: mm (inch)
175 (6.89)
2−M4
EtherCAT SPECIFICATIONS
■Modular Device Prole
R7I4DECT-1-DC32A complies with the Modular Device Profile (MDP) standard, ETG.5001.1 of the EtherCAT standard.
Be sure that the master supports the MDP standard.
■Fixed address
R7I4DECT supports Explicit Device Identification by allowing setting of fixed address using the fixed address setting rotary
switches (ID selector).
The fixed address can be set to be 1 to 255.
When fixed address is not used, set the ID selector to 0.
When the power is turned on with the ID selector set to other than 0, the designated address is written in the resistor 0x0012
of ESC (EtherCAT Slave Controller) when R7I4DECT starts up.
■Initialization
At the start up, objects of the process data mapping (RxPDO, TxPDO) corresponding to the I/O data of the device, and the
other objects are created in the object dictionary.
After initialization, the master unit is available to require to the slave unit (R7I4DECT-1-DC32A) to switch the status from
INIT to PREOP.
If the initialization is not completed due to any error with the module, switching requirement is rejected with AL status code
at switching from INIT to PREOP.
■Data Conguration
Data are configured in accordance with the EtherCAT Modular Device Profile (MDP) specifications as shown below.
Table 1: Data Conguration
OBJECT ADDRESS CONTENT
Input Area Objects 0x6001 Input data, Output status data
Output Area Objects 0x7000 Output data
PDO Mapping Objects (TxPDO) 0x1A00 Input data list
PDO Mapping Objects (RxPDO) 0x1600 Output data list
PDO Assign (IN) 0x1C13 Input data transmission order
PDO Assign (OUT) 0x1C12 Output data transmission order
Sync Manager Type 0x1C00 Sync manager type
Sync Manager Parameter Objects 0x1C32, 0x1C33 Sync mode
Device Type 0x1000 Device type
Manufacturer Device Name 0x1008 Device name
Manufacturer Hardware Version 0x1009 Hardware version
Manufacturer Software Version 0x100A Software version
Identity Objects 0x1018 Vendor information
■EtherCAT State
EtherCAT defines four states of slave: INIT, PREOP, SAFEOP, and OP.
TxPDO (input configuration data) is updated only in the SAFEOP or OP state, and RxPDO (output configuration data) is
updated only in the OP state.
The RUN LED turns on only in the OP state and input and output data are updated.

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■EtherCAT Diagnostics
• AL Status Code
When the slave (R7I4DECT) fails to receive a request from the master or when there is a problem with the slave during nor-
mal communication, an error code is set to registers 0x0134 and 0x0135 (AL Status Code) of ESC.
The error codes that R7I4DECT uses are as shown below.
Table 2: Error Codes of AL Status Code
CODE ERROR
0x0000 No error
0x0011 Invalid requested state change
0x0012 Unknown requested state
0x0013 BOOT state not supported
0x0016 Invalid MailBox configuration (PREOP)
0x0017 Invalid SyncManager configuration
0x001B SyncManager Watchdog Timeout
0x001D Invalid Output Configuration
0x001E Invalid Input Configuration
0x001F Invalid Watchdog Configuration
0x0029 FreeRun needs 3 Buffer mode
• SDO Abort Code
When the master attempts to access the object dictionary via SDO, if the slave (R7I4DECT) fails to receive SDO messages for
any reason, R7I4DECT sends an error code (SDO Abort Code) to the master and denies its access.
The following error codes are used.
Table 3: Error Codes of SDO Abort Code
CODE ERROR
0x05030000 Toggle bit not changed
0x05040001 Client/Server command specifier not valid or unknown
0x05040005 Out of memory
0x06010000 Unsupported access to an object
0x06010002 Attempt to a read-only object
0x06020000 The object does not exist in the object directory
0x06070010 Data type does not match, length of service parameter does not match
0x06090011 Sub-index does not exist
0x08000020 Data cannot be transferred or stored to the application
0x08000022 Data cannot be transferred or stored to the application because of the present device state

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OBJECT DICTIONARY (DATA DESCRIPTION)
■Input Area Objects (Input Data Area: 0x6001)
Output status data is allocated to object 0x6001. (Refer to “I/O DATA DESCRIPTIONS” on page 11)
Sub-Indexes correspond to channel numbers.
■Output Area Objects (Output Data Area: 0x7000)
Output data is allocated to object 0x7000.
Same data is allocated to object 0x7000 and 0x7100, while only the data type is different.
Sub-Indexes correspond to channel numbers.
Table 4: Sub-Index Conguration By Module Type
MODULE TYPE INDEX SUB-INDEX DATA TYPE BIT ACCESS VALUE CONTENT
Discrete output status 0x6001 0 UINT8 8 RO 1 Number of items
1 UINT16 16 RO 0x0000 Output status data
(0th to 16th points)
2 UINT16 16 RO 0x0000 Output status data
(17th to 32nd points)
Discrete output, 32 points 0x7000 0 UINT8 8 RO 16 Number of items
1 BOOL 1 RW TRUE/FALSE First point output data
2 BOOL 1 RW TRUE/FALSE Second point output data
: : : : : :
32 BOOL 1 RW TRUE/FALSE 32th point output data
Discrete output, 32 points 0x7100 0 UINT8 8 RO 2 Number of iems
1 UINT16 16 RW 0x0000 Output data
(0 tp 16 points)
2 UINT16 18 RW 0x0000 Output data
(17 to 32 points)
■PDO Mapping Objects (Data List: 0x1600, 0x1A00)
• Objects 0x1600, 0x1A00
Output data list (RxPDO) and Input data list (TxPDO) are allocated to 0x1600 and 0x1A00, respectively.
In the data of RxPDO and TxPDO, index, sub-index, and the number of bit of each object which is referred to, are stored.
For input data, each object with the address starting with 0x6000 is referred to.
For output data, each object with the address starting with 0x7000 is referred to.
Table 5: Object Conguration For Output Data List And Input Data List
INDEX SUB-INDEX DATA TYPE BIT ACCESS VALUE CONTENT
0x1600
(RxPDO)
0 UINT8 8 RO 16 Number of items
1 UINT32 32 RO 0xaaaabbcc aaaa: Index for referenced object
bb: Sub-Index for referenced object
cc: Number of bits for referenced
object
2 UINT32 32 RO
: : : :
16 UINT32 32 RO
0x1A00
(TxPDO)
0 UINT8 8 RO 1 Number of items
1 UINT32 32 RO 0xaaaabbcc aaaa: Index for referenced object
bb: Sub-Index for referenced object
cc: Number of bits for referenced
object
■PDO Assign Objects (Data Transmission Order, Output: 0x1C12, Input: 0x1C13)
An allocation list for RxPDO and an allocation list for TxPDO are allocated to 0x1C12 and 0x1C13, respectively.
The indexes stored in 0x1C12 and 0x1C13 are placed in the order they are actually transmitted via PDO.
Table 6: Object Conguration For PDO Allocation Lists
INDEX SUB-INDEX DATA TYPE BIT ACCESS VALUE CONTENT
0x1C12 0 UINT8 8 RO 2 Number of items
1 UINT16 16 RO 0x1600 Output data
0x1C13 0 UINT8 8 RO 3 Number of items
1 UINT16 16 RO 0x1A00 Input data, Status data

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■Sync Manager Type (0x1C00)
Sync Manager Type is allocated to object 0x1C00 based on the EtherCAT specification.
Table 7: Object Conguration For Sync Manager Type
INDEX SUB-INDEX DATA TYPE BIT ACCESS VALUE CONTENT
0x1C00 0 UINT8 8 RO 4 Number of items
1 UINT8 8 RO 1 Mailbox Write
2 UINT8 8 RO 2 Mailbox Read
3 UINT8 8 RO 3 Process Output Data
4 UINT8 8 RO 4 Process Input Data
■Sync Manager Parameter Objects (0x1C32, 0x1C33)
In R7I4DECT, objects 0x1C32 and 0x1C33 do not exist, as the value of Sync Manager Parameter is fixed.
R7I4DECT supports Free Run mode only as the Sync mode.
Note that Distributed Clock (DC) mode is not supported.
■Device Type (0x1000)
The device type of this unit is allocated to object 0x1000. The device type is 5001.
Table 8: Object Conguration For Device Type
INDEX DATA TYPE BIT ACCESS VALUE CONTENT
0x1000 UINT32 32 RO 5001 Device type
■Error Register (0x1001)
R7I4DECT does not use Object 0x1001.
■Manufacturer Device Name (0x1008)
The device name is allocated to object 0x1008 in String form.
Table 9: Object Conguration For Device Name
INDEX DATA TYPE BIT ACCESS VALUE CONTENT
0x1008 STRING 32 RO R7I4DECT-1-DC32A Model number
■Manufacturer Hardware Version (0x1009)
The hardware device version of this unit is allocated to object 0x1009 in String form.
The format of version is “n.nn.”
Table 10: Object Conguration For Hardware Version
INDEX DATA TYPE BIT ACCESS VALUE CONTENT
0x1009 STRING 32 RO n.nn Hardware version
■Manufacturer Software Version (0x100A)
The software version of this unit is allocated to object 0x100A in String form.
The format of version is “n.nn.”
Table 11: Object Conguration For Software Version
INDEX DATA TYPE BIT ACCESS VALUE CONTENT
0x100A STRING 32 RO n.nn Software version

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■Identity Object (Vendor information: 0x1018)
Vendor information is allocated to object 0x1018.
While the vendor ID and product code are fixed, the revision number is incremented by one at each major version up of the
software.
A unique serial number is allocated to each product.
A serial number consists of 8 digits, starting with two alpha-numeral characters followed by six numeral characters.
The serial number is expressed as 32-bit data divided into 6-bit, 6-bit, and 20-bit groups, with the first two characters con-
verted into 6-bit values.
6 BITS 6 BITS 20 BITS
1st digit 2nd digit 3rd to 8th digits (000000 to 999999)
CHARACTER VALUE
0 0
1 1
: :
9 9
A 10
B 11
: :
Z 35
Table 12: Object Conguration For Vendor Information
INDEX SUB-INDEX DATA TYPE BIT ACCESS VALUE CONTENT
0x1018 0 UINT8 8 RO 4 Number of items
1 UINT32 32 RO 0x0000060C Vendor ID
2 UINT32 32 RO 0x52370007 Product code
3 UINT32 32 RO n Revision number
4 UINT32 32 RO 0 to n Serial number
I/O DATA DESCRIPTIONS
■DISCRETE I/O DATA
■DESCRETE OUTPUT MODEULE
1631
• Output Area Objects
0: OFF 1: ON
0 15
Output 0
Output 1
Output 2
Output 3
Output 30
Output 31

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1631
0: Normal
1: Detected the overcurrent/overheat and disconnection
Note: Status is disabled with option code: /D1 (without wire breakdown detection).
0 15
Output 0 (Overcurrent/overheat; disconnection)
Output 1 (Overcurrent/overheat; disconnection)
Output 2 (Overcurrent/overheat; disconnection)
Output 3 (Overcurrent/overheat; disconnection)
Output 30 (Overcurrent/overheat; disconnection)
Output 31 (Overcurrent/overheat; disconnection)
■STATUS (Input Area Object)
When overcurrent or overheat is detected on each channel of discrete output while the output is ON, the status bit correspond-
ing to the output turns “1” and is latched*. Then the discrete output is also latched to OFF.
To reset the latched bit and discrete output, set this output to OFF from the host PC/PLC or turn off and on the power supply
to the unit.
When disconnection (open load) is detected while output is OFF, the corresponding status bit turns “1” but is not latched.
* The status bit turns “0” if the load is opened in the state overcurrent or overheat is detected. However, the discrete output of the
unit remains latched. Be sure to remove the cause of error and reset the latched output by setting the output to OFF or turning
off/on the power supply.